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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
31 lines
1.0 KiB
C++
31 lines
1.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <cmath>
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#include "frc/geometry/Pose2d.h"
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#include "frc/geometry/Rotation2d.h"
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#include "frc/geometry/Transform2d.h"
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#include "frc/geometry/Translation2d.h"
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#include "gtest/gtest.h"
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using namespace frc;
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static constexpr double kEpsilon = 1E-9;
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TEST(Transform2dTest, Inverse) {
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const Pose2d initial{1_m, 2_m, Rotation2d(45.0_deg)};
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const Transform2d transform{Translation2d{5.0_m, 0.0_m}, Rotation2d(5.0_deg)};
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auto transformed = initial + transform;
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auto untransformed = transformed + transform.Inverse();
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EXPECT_NEAR(initial.X().to<double>(), untransformed.X().to<double>(),
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kEpsilon);
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EXPECT_NEAR(initial.Y().to<double>(), untransformed.Y().to<double>(),
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kEpsilon);
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EXPECT_NEAR(initial.Rotation().Degrees().to<double>(),
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untransformed.Rotation().Degrees().to<double>(), kEpsilon);
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}
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